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  <div class="headertitle"><div class="title">kalman_filter.h</div></div>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#ifndef __KALMAN_FILTER_H</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#define __KALMAN_FILTER_H</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span> </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="comment">// cortex-m4 DSP lib</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="comment">/*</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="comment">#define __CC_ARM    // Keil</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="comment">#define ARM_MATH_CM4</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="comment">#define ARM_MATH_MATRIX_CHECK</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="comment">#define ARM_MATH_ROUNDING</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="comment">#define ARM_MATH_DSP    // define in arm_math.h</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="comment">*/</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="preprocessor">#include &quot;<a class="code" href="stm32h723xx_8h.html">stm32h723xx.h</a>&quot;</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span><span class="preprocessor">#include &quot;arm_math.h&quot;</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span><span class="comment">//#include &quot;dsp/matrix_functions.h&quot;</span></div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="preprocessor">#include &quot;math.h&quot;</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span><span class="preprocessor">#include &quot;stdint.h&quot;</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span><span class="preprocessor">#include &quot;stdlib.h&quot;</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="preprocessor">#ifndef user_malloc</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="preprocessor">#ifdef _CMSIS_OS_H</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span><span class="preprocessor">#define user_malloc pvPortMalloc</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span><span class="preprocessor">#else</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="preprocessor">#define user_malloc malloc</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span><span class="comment">// 若运算速度不够,可以使用q31代替f32,但是精度会降低</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span><span class="preprocessor">#define mat arm_matrix_instance_f32</span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span><span class="preprocessor">#define Matrix_Init arm_mat_init_f32</span></div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span><span class="preprocessor">#define Matrix_Add arm_mat_add_f32</span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span><span class="preprocessor">#define Matrix_Subtract arm_mat_sub_f32</span></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span><span class="preprocessor">#define Matrix_Multiply arm_mat_mult_f32</span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span><span class="preprocessor">#define Matrix_Transpose arm_mat_trans_f32</span></div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span><span class="preprocessor">#define Matrix_Inverse arm_mat_inverse_f32</span></div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
<div class="foldopen" id="foldopen00049" data-start="{" data-end="};">
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="structkf__t.html">   49</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code hl_struct" href="structkf__t.html">kf_t</a></div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>{</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    <span class="keywordtype">float</span> *FilteredValue;</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    <span class="keywordtype">float</span> *MeasuredVector;</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    <span class="keywordtype">float</span> *ControlVector;</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    uint8_t xhatSize;</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    uint8_t uSize;</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    uint8_t zSize;</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span> </div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    uint8_t UseAutoAdjustment;</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    uint8_t MeasurementValidNum;</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    uint8_t *MeasurementMap;      <span class="comment">// 量测与状态的关系 how measurement relates to the state</span></div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <span class="keywordtype">float</span> *MeasurementDegree;     <span class="comment">// 测量值对应H矩阵元素值 elements of each measurement in H</span></div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    <span class="keywordtype">float</span> *MatR_DiagonalElements; <span class="comment">// 量测方差 variance for each measurement</span></div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    <span class="keywordtype">float</span> *StateMinVariance;      <span class="comment">// 最小方差 避免方差过度收敛 suppress filter excessive convergence</span></div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    uint8_t *temp;</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span> </div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="comment">// 配合用户定义函数使用,作为标志位用于判断是否要跳过标准KF中五个环节中的任意一个</span></div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    uint8_t SkipEq1, SkipEq2, SkipEq3, SkipEq4, SkipEq5;</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span> </div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    <span class="comment">// definiion of struct mat: rows &amp; cols &amp; pointer to vars</span></div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    mat xhat;      <span class="comment">// x(k|k)</span></div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    mat xhatminus; <span class="comment">// x(k|k-1)</span></div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    mat u;         <span class="comment">// control vector u</span></div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    mat z;         <span class="comment">// measurement vector z</span></div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    mat P;         <span class="comment">// covariance matrix P(k|k)</span></div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    mat Pminus;    <span class="comment">// covariance matrix P(k|k-1)</span></div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    mat F, FT;     <span class="comment">// state transition matrix F FT</span></div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    mat B;         <span class="comment">// control matrix B</span></div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    mat H, HT;     <span class="comment">// measurement matrix H</span></div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    mat Q;         <span class="comment">// process noise covariance matrix Q</span></div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    mat R;         <span class="comment">// measurement noise covariance matrix R</span></div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    mat K;         <span class="comment">// kalman gain  K</span></div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    mat S, temp_matrix, temp_matrix1, temp_vector, temp_vector1;</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span> </div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    int8_t MatStatus;</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span> </div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    <span class="comment">// 用户定义函数,可以替换或扩展基准KF的功能</span></div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    void (*User_Func0_f)(<span class="keyword">struct </span><a class="code hl_struct" href="structkf__t.html">kf_t</a> *kf);</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    void (*User_Func1_f)(<span class="keyword">struct </span><a class="code hl_struct" href="structkf__t.html">kf_t</a> *kf);</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    void (*User_Func2_f)(<span class="keyword">struct </span><a class="code hl_struct" href="structkf__t.html">kf_t</a> *kf);</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    void (*User_Func3_f)(<span class="keyword">struct </span><a class="code hl_struct" href="structkf__t.html">kf_t</a> *kf);</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    void (*User_Func4_f)(<span class="keyword">struct </span><a class="code hl_struct" href="structkf__t.html">kf_t</a> *kf);</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    void (*User_Func5_f)(<span class="keyword">struct </span><a class="code hl_struct" href="structkf__t.html">kf_t</a> *kf);</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    void (*User_Func6_f)(<span class="keyword">struct </span><a class="code hl_struct" href="structkf__t.html">kf_t</a> *kf);</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span> </div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    <span class="comment">// 矩阵存储空间指针</span></div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    <span class="keywordtype">float</span> *xhat_data, *xhatminus_data;</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    <span class="keywordtype">float</span> *u_data;</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    <span class="keywordtype">float</span> *z_data;</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <span class="keywordtype">float</span> *P_data, *Pminus_data;</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    <span class="keywordtype">float</span> *F_data, *FT_data;</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    <span class="keywordtype">float</span> *B_data;</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    <span class="keywordtype">float</span> *H_data, *HT_data;</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    <span class="keywordtype">float</span> *Q_data;</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    <span class="keywordtype">float</span> *R_data;</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>    <span class="keywordtype">float</span> *K_data;</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    <span class="keywordtype">float</span> *S_data, *temp_matrix_data, *temp_matrix_data1, *temp_vector_data, *temp_vector_data1;</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>} KalmanFilter_t;</div>
</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span> </div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span><span class="keyword">extern</span> uint16_t sizeof_float, sizeof_double;</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span> </div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span><span class="keywordtype">void</span> Kalman_Filter_Init(KalmanFilter_t *kf, uint8_t xhatSize, uint8_t uSize, uint8_t zSize);</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span><span class="keywordtype">void</span> Kalman_Filter_Measure(KalmanFilter_t *kf);</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span><span class="keywordtype">void</span> Kalman_Filter_xhatMinusUpdate(KalmanFilter_t *kf);</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span><span class="keywordtype">void</span> Kalman_Filter_PminusUpdate(KalmanFilter_t *kf);</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span><span class="keywordtype">void</span> Kalman_Filter_SetK(KalmanFilter_t *kf);</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span><span class="keywordtype">void</span> Kalman_Filter_xhatUpdate(KalmanFilter_t *kf);</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span><span class="keywordtype">void</span> Kalman_Filter_P_Update(KalmanFilter_t *kf);</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span><span class="keywordtype">float</span> *Kalman_Filter_Update(KalmanFilter_t *kf);</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span> </div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span><span class="preprocessor">#endif </span><span class="comment">//__KALMAN_FILTER_H</span></div>
<div class="ttc" id="astm32h723xx_8h_html"><div class="ttname"><a href="stm32h723xx_8h.html">stm32h723xx.h</a></div><div class="ttdoc">CMSIS STM32H723xx Device Peripheral Access Layer Header File.</div></div>
<div class="ttc" id="astructkf__t_html"><div class="ttname"><a href="structkf__t.html">kf_t</a></div><div class="ttdef"><b>Definition</b> kalman_filter.h:50</div></div>
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